JP2991533B2 - Unmanned working vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique of a working vehicle for performing an unmanned operation by setting a remote operation or an operation process for performing an agricultural operation such as tilling.

[0002]

2. Description of the Related Art Conventionally, a work vehicle in which management work is performed unattended is known.
No. 317310. According to this technology, running wheels provided at four corners of a body frame are configured to be rotatable by 90 degrees, a turning frame is provided on the body frame, a work machine is mounted on a rear end of the turning frame, and a stick is mounted on a front end. When the headland is reached during work, lower the stick to lift the front wheel, rotate the front wheel 90 degrees, then rotate the revolving frame 180 degrees, lower the stick and lift the rear wheel 90 degrees When the vehicle is rotated, moved in parallel, and proceeds to the next step, the front wheel and the rear wheel are rotated by 90 degrees in the same manner as described above to change the traveling direction to the opposite direction, and the next operation is performed. It was.

[0003]

However, according to the above-mentioned technique, it takes time to sequentially and regularly carry out elevating and lowering of a stick and rotation of a steered wheel at the time of a change of direction.
The structure for turning becomes very complicated.
An object of the present invention is to improve straightness with a simple configuration, facilitate turning, and enable unmanned operations.

[0004]

In view of the above, the present invention has a front axle case provided at the front end of the fuselage and a rear axle case provided at the rear end of the fuselage arranged in front and rear parallel to each other. A front wheel and a rear wheel are arranged between cases, the front axle case and the rear axle case are connected by a main frame, and a traveling / steering drive unit and an operation / control unit are arranged in a central portion. . Further, in the unmanned working vehicle, the deviation of the position, angle, and direction with respect to the traveling direction of the center of gravity of the machine is detected by a sensor, the detection signal and the target direction are calculated, and the camber angles of the left and right wheels are changed. It is configured to shift the center of gravity to perform steering correction.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The problems to be solved and means to be solved by the present invention are as described above. Next, embodiments shown in the attached drawings will be described. 1 is a side view of an unmanned working vehicle of the present invention, FIG.
3 is also a plan view, FIG. 3 is a rear sectional view, FIG. 4 is a side view showing a state in which a working machine is mounted, and FIG. 5 is a plan view. 1, 2, and 3, a front axle case 1 is arranged at a front end and a rear axle case 2 is arranged so as to be parallel to a rear end, and a main frame is provided between the front axle case 1 and the rear axle case 2 in parallel. 3 and 3 are arranged and connected to form an airframe.

At both ends of the front axle case 1, pivoting cases 4 are pivotally supported in the front-rear direction.
Front wheels 5.5 are pivotally supported on the outside of the rear end of the rotating case 4.
An arm 10 projects from the front axle case side of the arm. The other end of the arm 10 is pivotally connected to a tie rod 11,
The center of the tie rod 11 is pivotally connected to the tip of a piston rod 12 a of a hydraulic cylinder 12 via an arm 13. The hydraulic cylinder 12 is pivotally connected to the main frame 3, and the electromagnetic valve is switched by a control signal of a control circuit described later to expand and contract. The lower end of the arm 13 is pivotally supported by the front axle case 1. However, arm 13
May be arranged horizontally to rotate the tie rod 11. Similarly, pivoting cases 6.6 are pivotally supported at both ends of the rear axle case 2.
A rear wheel 7, 7 is pivotally supported at the front end, and an arm 14 projects from the rotating case 6, and the other end of the arm 14 is connected to a tie rod 15
The center of the tie rod 15 is pivotally connected to a hydraulic cylinder 17 via an arm 16.

With such a configuration, when the front and rear hydraulic cylinders 12 and 17 are simultaneously extended and contracted by the same length, the tie rods 11 and 15 are moved left and right to rotate the arms 10 and 14, and the rotating cases 4.6 are rotated. The front wheel 5 and the rear wheel 7 are tilted right or left by being moved. At this time, the center of gravity of the body also moves in the same direction, so that the traveling direction is also changed to the moving side.

A transmission case 20 is provided on the center of the main frames 3 and 3, and power is input from an engine 21 to the transmission case 20, and a hydraulic pump 22 is provided on the opposite side of the engine 21. Is installed and driven, and pressurized oil is supplied to the hydraulic cylinders 12 and 17 and the like.
The power is transmitted to the front axle case 1 via the transmission case 24 to drive the front wheels 5, and the power is transmitted from the rear surface of the transmission case 20 to the rear axle case 2 via the transmission case 24 to drive the rear wheels 7. .

A turning device is provided at the position of the center of gravity of the fuselage. The upper end of a pantograph-shaped lifting link 26 is pivotally connected to a support 25 fixed to the main frame 3, and the lower end of the lifting link 26 is connected to the lower end of the lifting link 26. The swivel 27 is pivoted,
A piston rod of a hydraulic cylinder 28 is pivotally connected to one end of the swivel 27 so that the hydraulic cylinder 28 can be moved up and down by extension and contraction. The swivel 27 is configured to be rotatable by upper and lower support plates, and is configured to rotate one of the support plates by a hydraulic motor or an electric motor to rotate.

On a rear portion of the main frame 3, a control device 30, such as a microcomputer, a horizontal sensor 31, a direction sensor 32, and an operation panel 33 are mounted.
An operation switch for setting a work process and a monitor for the operation process are provided on the operation panel 33, and a solar cell is attached to a cover of the operation panel 33 so that the operation can be controlled even when the battery goes up and the battery can be charged when the battery is stopped. . The azimuth sensor 32 detects a traveling direction by a geomagnetic sensor, a gyro locator, or the like, and the horizontal sensor 31 detects angles in the front-rear direction and the left-right direction, and the respective values are input to the control device 30. More front wheels 5
Alternatively, a rotational speed sensor 34 is provided on the rear wheel 7 to detect a running distance, and a bumper 9 provided at the front end of the front axle case 1 is provided with a switch 3 for stopping when hitting an obstacle.
5 are provided. An angle sensor, a rotation speed sensor, and the like are also provided on a rotation shaft of the rotary tilling device and a rotation shaft of the rotary, which will be described later, and the position and the rotation speed of the rotary tilling device are also input to the control device 30.

As shown in FIGS. 4 and 5, a working machine can be mounted on the rear part of the body. When a ridger is mounted, a hitch 40 is fixedly provided at the center of the rear axle case 2, The front end of the main support 41 of the rotary tilling device is pivotally supported on the hitch 40 and can be moved up and down by an elevating link 39. A gear box 42 is fixed to the rear end of the main support 41, and the chain case is moved downward under the gear box 42. The tilling shaft protrudes from the lower end, and a tilling claw 43 is planted on the tilling shaft to enable tilling. Power to the gearbox 42 is transmitted from the rear axle case 2 via a universal joint or the like.

Beams 44 project from both sides of the gear box 42. The beams 44 are constructed as cylinders so that rods 45 can be extended and contracted. A plate 47 and a side cultivation cover 46 are fixedly provided, a cultivation shaft is supported at the lower end of the support plate 47, and the side cultivation cover 46 can adjust the cultivation width. At the rear surface of the gear box 42, a mounting body 4 is provided.
9, a supporting rod 50 is laid on the rear end, and the supporting rod 5 is
The shaping plates 51 are fixed to both ends so as to be adjustable in width, and are slid in conjunction with the width adjustment of the side till cover 46. The shaping plates 51 are rotated up and down by a motor 52 provided on the rear end of the mounting body 49 so that the ridges can be shaped according to the tillage depth of the rotary.

In such a configuration, before the work, the shape and size of the field, the work process (work route, running speed), PT
The O drive speed, ridge height, ridge width, etc. are set from the operation panel 33, and when the work is started, the rotary is lowered while being rotated, and at the same time the shaping plate 51 is also lowered. It gradually advances, and the control device 30 calculates by input of the horizontal sensor 31 and the direction sensor 32,
The hydraulic cylinders 12 and 17 are extended and contracted to advance while correcting the direction to the set direction. In addition, when a load change occurs in the rotary, the traveling speed is reduced to increase the torque,
Make sure that the work does not deteriorate.

When the machine reaches the headland, the body front sensor (bumper 9) comes into contact with a ridge or a pile, and the body and the rotary stop (the headland is detected by the direction sensor and the distance sensor). However, since there is a slight error due to running slips and the like, and there must be an unworked part, the end of the machine is detected by a sensor in front of the aircraft to increase reliability.) The shaping plate 51 is raised simultaneously with the stop of the rotary, and then the rotary is raised.

Next, the hydraulic cylinder 28 is extended, the elevating link 26 is extended, the turntable 27 is lowered, the body is raised, and the turntable 27 is turned 90 degrees at the upper end position to change the direction of the body. 28 is reduced, the swivel 27 is raised, the machine is moved to the next work position, and the hydraulic cylinder 28 is extended again and turned 90 degrees in the same manner as described above to change the traveling direction and proceed to the next work process. Then, when the swivel 27 is raised, the rotary is lowered in the same manner as described above, and the work is started again. As shown in FIG.
Not only unmanned running but also remote control using the wireless device 37 or the like is possible, and the process can be changed on the way or can be arbitrarily operated when a dangerous state occurs.

[0016]

As described above, the present invention has the following advantages. In other words, since the left and right wheels do not have a turning function, there is no disturbance in the traveling direction due to steering, and the straightness is excellent, and since the correction in the set traveling direction is performed by moving the center of gravity, the lateral fluctuation of the work machine is small, and the finish is small. It became clean and became a work vehicle suitable for tillage and management work. In addition, by simply setting the work process before starting, traveling, turning, and work can be automatically performed, and correction is also automatically performed by the control circuit, so that unmanned operation can be achieved and work can be performed efficiently. And save labor,
They can now work rationally.

[Brief description of the drawings]

FIG. 1 is a side view of an unmanned working vehicle according to the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is a rear sectional view of the same.

FIG. 4 is a side view showing a state in which a work machine is mounted.

FIG. 5 is a plan view of the same.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Front axle case 2 Rear axle case 3 Main frame 5 Front wheel 7 Rear wheel 20 Transmission case 21 Engine 22 Hydraulic pump 30 Control device 31 Horizontal sensor 32 Direction sensor 33 Operation panel

────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Nobuo Kuromiya 1-32 Chaya-cho, Kita-ku, Osaka, Osaka Inside Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Susumu Nochi 1st Chaya-cho, Kita-ku, Osaka, Osaka No. 32 Inside Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Akihiro Kubo 1-32 Chaya-cho, Kita-ku, Osaka-shi, Osaka Inside Yanmar Agricultural Machinery Co., Ltd. (58) Field surveyed (Int. Cl. ⁶ , DB name) A01B 69/00 B60S 9/02 B62D 6/00 G05D 1/02

Claims (2)

(57) [Claims] 1. A front axle case provided at a front end of a fuselage and a rear axle case provided at a rear end of the body are arranged in front and rear parallel to each other, and a front wheel and a rear wheel are arranged between both axle cases. An unmanned working vehicle having a main frame connected to a rear axle case, and a traveling / steering drive unit and an operation / control unit arranged in the center. 2. The unmanned working vehicle according to claim 1, wherein a sensor detects a deviation in a position, an angle, and a direction with respect to a traveling direction of a center of gravity of the machine, and calculates the detection signal and a target direction.
An unmanned working vehicle characterized in that the camber angles of the left and right wheels are changed to shift the center of gravity to correct steering.